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<a href="vector__angle_8hh.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Copyright (C) 2015 NuBot team of National University of Defense Technology</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Licensed under the Apache License, Version 2.0 (the &quot;License&quot;);</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * you may not use this file except in compliance with the License.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * You may obtain a copy of the License at</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *     http://www.apache.org/licenses/LICENSE-2.0</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * Unless required by applicable law or agreed to in writing, software</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * distributed under the License is distributed on an &quot;AS IS&quot; BASIS,</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * See the License for the specific language governing permissions and</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * limitations under the License.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">/* Desc: As an extension to the operation of gazebo::math::Vector3</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *       Calculate angles between two vectors both used for planar and spatial vectors</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * Author: Weijia Yao</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> * Date: Jun 2015</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#ifndef VECTOR_ANGLE_HH</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define VECTOR_ANGLE_HH</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;gazebo/gazebo.hh&gt;</span>     <span class="comment">// the core gazebo header files, including gazebo/math/gzmath.hh</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="vector__angle_8hh.html#a598a3330b3c21701223ee0ca14316eca">   29</a></span>&#160;<span class="preprocessor">#define PI 3.14159265</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor"></span><span class="keyword">using namespace </span>gazebo;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keywordtype">double</span> <a class="code" href="vector__angle_8hh.html#a1b9926f16acb5f592b62a9432a01faaa">get_cos_angle</a>(math::Vector3 vector1, math::Vector3 vector2); <span class="comment">// vectors&#39; angle range [-PI, PI]</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keywordtype">double</span> <a class="code" href="vector__angle_8hh.html#a3f4b439e11cba4b39e181f4482aaf320">get_sin_angle</a>(math::Vector3 reference_vector, math::Vector3 target_vector); <span class="comment">// vectors&#39; angle range [-PI, PI]</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keywordtype">double</span> <a class="code" href="vector__angle_8hh.html#adcfcbae1bee7086c33410a71b2f2e729">get_angle_PI</a>(math::Vector3 reference_vector, math::Vector3 target_vector);   <span class="comment">// return angle range [-PI,PI]</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keywordtype">double</span> <a class="code" href="vector__angle_8hh.html#ae998ba9cb6fe53aee83ee816110b4e4f">get_angle_2PI</a>(math::Vector3 reference_vector, math::Vector3 target_vector);  <span class="comment">// return angle range [0, 2*PI]</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="vector__angle_8hh.html#a1b9926f16acb5f592b62a9432a01faaa">   37</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="vector__angle_8hh.html#a1b9926f16acb5f592b62a9432a01faaa">get_cos_angle</a>(math::Vector3 vector1, math::Vector3 vector2)</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;{</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    math::Vector3 vector1_norm = vector1.Normalize();</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    math::Vector3 vector2_norm = vector2.Normalize();</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordflow">return</span> vector1_norm.Dot(vector2_norm);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;}</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="vector__angle_8hh.html#a3f4b439e11cba4b39e181f4482aaf320">   44</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="vector__angle_8hh.html#a3f4b439e11cba4b39e181f4482aaf320">get_sin_angle</a>(math::Vector3 reference_vector, math::Vector3 target_vector)</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    math::Vector3 reference_vector_norm = reference_vector.Normalize();</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    math::Vector3 target_vector_norm = target_vector.Normalize();</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    math::Vector3 cross_vector = reference_vector_norm.Cross(target_vector_norm);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">return</span> (cross_vector.z&gt;0 ? cross_vector.GetLength() : -cross_vector.GetLength());</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="vector__angle_8hh.html#adcfcbae1bee7086c33410a71b2f2e729">   52</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="vector__angle_8hh.html#adcfcbae1bee7086c33410a71b2f2e729">get_angle_PI</a>(math::Vector3 reference_vector, math::Vector3 target_vector) <span class="comment">// return angle range [-PI,PI]</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordtype">double</span> cos_angle = <a class="code" href="vector__angle_8hh.html#a1b9926f16acb5f592b62a9432a01faaa">get_cos_angle</a>(reference_vector, target_vector);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordtype">double</span> sin_angle = <a class="code" href="vector__angle_8hh.html#a3f4b439e11cba4b39e181f4482aaf320">get_sin_angle</a>(reference_vector, target_vector);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordtype">double</span> angle = acos(cos_angle);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">return</span> (sin_angle&gt;0 ? angle : -angle);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;}</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="vector__angle_8hh.html#ae998ba9cb6fe53aee83ee816110b4e4f">   60</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="vector__angle_8hh.html#ae998ba9cb6fe53aee83ee816110b4e4f">get_angle_2PI</a>(math::Vector3 reference_vector, math::Vector3 target_vector)  <span class="comment">// return angle range [0, 2*PI]</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordtype">double</span> cos_angle = <a class="code" href="vector__angle_8hh.html#a1b9926f16acb5f592b62a9432a01faaa">get_cos_angle</a>(reference_vector, target_vector);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">double</span> sin_angle = <a class="code" href="vector__angle_8hh.html#a3f4b439e11cba4b39e181f4482aaf320">get_sin_angle</a>(reference_vector, target_vector);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">double</span> angle = acos(cos_angle);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">return</span> (sin_angle&gt;0 ? angle : 2*<a class="code" href="vector__angle_8hh.html#a598a3330b3c21701223ee0ca14316eca">PI</a>-angle);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="preprocessor">#endif </span></div>
<div class="ttc" id="vector__angle_8hh_html_a1b9926f16acb5f592b62a9432a01faaa"><div class="ttname"><a href="vector__angle_8hh.html#a1b9926f16acb5f592b62a9432a01faaa">get_cos_angle</a></div><div class="ttdeci">double get_cos_angle(math::Vector3 vector1, math::Vector3 vector2)</div><div class="ttdef"><b>Definition:</b> vector_angle.hh:37</div></div>
<div class="ttc" id="vector__angle_8hh_html_a598a3330b3c21701223ee0ca14316eca"><div class="ttname"><a href="vector__angle_8hh.html#a598a3330b3c21701223ee0ca14316eca">PI</a></div><div class="ttdeci">#define PI</div><div class="ttdef"><b>Definition:</b> vector_angle.hh:29</div></div>
<div class="ttc" id="vector__angle_8hh_html_adcfcbae1bee7086c33410a71b2f2e729"><div class="ttname"><a href="vector__angle_8hh.html#adcfcbae1bee7086c33410a71b2f2e729">get_angle_PI</a></div><div class="ttdeci">double get_angle_PI(math::Vector3 reference_vector, math::Vector3 target_vector)</div><div class="ttdef"><b>Definition:</b> vector_angle.hh:52</div></div>
<div class="ttc" id="vector__angle_8hh_html_a3f4b439e11cba4b39e181f4482aaf320"><div class="ttname"><a href="vector__angle_8hh.html#a3f4b439e11cba4b39e181f4482aaf320">get_sin_angle</a></div><div class="ttdeci">double get_sin_angle(math::Vector3 reference_vector, math::Vector3 target_vector)</div><div class="ttdef"><b>Definition:</b> vector_angle.hh:44</div></div>
<div class="ttc" id="vector__angle_8hh_html_ae998ba9cb6fe53aee83ee816110b4e4f"><div class="ttname"><a href="vector__angle_8hh.html#ae998ba9cb6fe53aee83ee816110b4e4f">get_angle_2PI</a></div><div class="ttdeci">double get_angle_2PI(math::Vector3 reference_vector, math::Vector3 target_vector)</div><div class="ttdef"><b>Definition:</b> vector_angle.hh:60</div></div>
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